#pragma once
// MESSAGE ODOMETRY PACKING

#define MAVLINK_MSG_ID_ODOMETRY 331

MAVPACKED(
        typedef struct __mavlink_odometry_t {
            uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
            float x; /*< [m] X Position*/
            float y; /*< [m] Y Position*/
            float z; /*< [m] Z Position*/
            float q[4]; /*<  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
            float vx; /*< [m/s] X linear speed*/
            float vy; /*< [m/s] Y linear speed*/
            float vz; /*< [m/s] Z linear speed*/
            float rollspeed; /*< [rad/s] Roll angular speed*/
            float pitchspeed; /*< [rad/s] Pitch angular speed*/
            float yawspeed; /*< [rad/s] Yaw angular speed*/
            float pose_covariance[21]; /*<  Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
            float twist_covariance[21]; /*<  Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
            uint8_t frame_id; /*<  Coordinate frame of reference for the pose data.*/
            uint8_t child_frame_id; /*<  Coordinate frame of reference for the velocity in free space (twist) data.*/
        }) mavlink_odometry_t;

#define MAVLINK_MSG_ID_ODOMETRY_LEN 230
#define MAVLINK_MSG_ID_ODOMETRY_MIN_LEN 230
#define MAVLINK_MSG_ID_331_LEN 230
#define MAVLINK_MSG_ID_331_MIN_LEN 230

#define MAVLINK_MSG_ID_ODOMETRY_CRC 58
#define MAVLINK_MSG_ID_331_CRC 58

#define MAVLINK_MSG_ODOMETRY_FIELD_Q_LEN 4
#define MAVLINK_MSG_ODOMETRY_FIELD_POSE_COVARIANCE_LEN 21
#define MAVLINK_MSG_ODOMETRY_FIELD_TWIST_COVARIANCE_LEN 21

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
    331, \
    "ODOMETRY", \
    15, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
         { "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
         { "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_odometry_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_odometry_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_odometry_t, z) }, \
         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 20, offsetof(mavlink_odometry_t, q) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_odometry_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_odometry_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_odometry_t, vz) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_odometry_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_odometry_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
         { "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
         { "twist_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, twist_covariance) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
    "ODOMETRY", \
    15, \
    {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
         { "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
         { "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_odometry_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_odometry_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_odometry_t, z) }, \
         { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 20, offsetof(mavlink_odometry_t, q) }, \
         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_odometry_t, vx) }, \
         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_odometry_t, vy) }, \
         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_odometry_t, vz) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_odometry_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_odometry_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
         { "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
         { "twist_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, twist_covariance) }, \
         } \
}
#endif

/**
 * @brief Pack a odometry message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
 * @param frame_id  Coordinate frame of reference for the pose data.
 * @param child_frame_id  Coordinate frame of reference for the velocity in free space (twist) data.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 * @param vx [m/s] X linear speed
 * @param vy [m/s] Y linear speed
 * @param vz [m/s] Z linear speed
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 * @param pose_covariance  Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 * @param twist_covariance  Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t
mavlink_msg_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
                          uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x,
                          float y, float z, const float *q, float vx, float vy, float vz,
                          float rollspeed, float pitchspeed, float yawspeed,
                          const float *pose_covariance, const float *twist_covariance) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 36, vx);
    _mav_put_float(buf, 40, vy);
    _mav_put_float(buf, 44, vz);
    _mav_put_float(buf, 48, rollspeed);
    _mav_put_float(buf, 52, pitchspeed);
    _mav_put_float(buf, 56, yawspeed);
    _mav_put_uint8_t(buf, 228, frame_id);
    _mav_put_uint8_t(buf, 229, child_frame_id);
    _mav_put_float_array(buf, 20, q, 4);
    _mav_put_float_array(buf, 60, pose_covariance, 21);
    _mav_put_float_array(buf, 144, twist_covariance, 21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ODOMETRY_LEN);
#else
    mavlink_odometry_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.frame_id = frame_id;
    packet.child_frame_id = child_frame_id;
    mav_array_memcpy(packet.q, q, sizeof(float) * 4);
    mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float) * 21);
    mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float) * 21);
    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ODOMETRY_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ODOMETRY;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN,
                                    MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
}

/**
 * @brief Pack a odometry message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
 * @param frame_id  Coordinate frame of reference for the pose data.
 * @param child_frame_id  Coordinate frame of reference for the velocity in free space (twist) data.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 * @param vx [m/s] X linear speed
 * @param vy [m/s] Y linear speed
 * @param vz [m/s] Z linear speed
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 * @param pose_covariance  Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 * @param twist_covariance  Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t
mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t *msg,
                               uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id,
                               float x, float y, float z, const float *q, float vx, float vy,
                               float vz, float rollspeed, float pitchspeed, float yawspeed,
                               const float *pose_covariance, const float *twist_covariance) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 36, vx);
    _mav_put_float(buf, 40, vy);
    _mav_put_float(buf, 44, vz);
    _mav_put_float(buf, 48, rollspeed);
    _mav_put_float(buf, 52, pitchspeed);
    _mav_put_float(buf, 56, yawspeed);
    _mav_put_uint8_t(buf, 228, frame_id);
    _mav_put_uint8_t(buf, 229, child_frame_id);
    _mav_put_float_array(buf, 20, q, 4);
    _mav_put_float_array(buf, 60, pose_covariance, 21);
    _mav_put_float_array(buf, 144, twist_covariance, 21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ODOMETRY_LEN);
#else
    mavlink_odometry_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.frame_id = frame_id;
    packet.child_frame_id = child_frame_id;
    mav_array_memcpy(packet.q, q, sizeof(float) * 4);
    mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float) * 21);
    mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float) * 21);
    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ODOMETRY_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_ODOMETRY;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan,
                                         MAVLINK_MSG_ID_ODOMETRY_MIN_LEN,
                                         MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
}

/**
 * @brief Encode a odometry struct
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param odometry C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
                            const mavlink_odometry_t *odometry) {
    return mavlink_msg_odometry_pack(system_id, component_id, msg, odometry->time_usec,
                                     odometry->frame_id, odometry->child_frame_id, odometry->x,
                                     odometry->y, odometry->z, odometry->q, odometry->vx,
                                     odometry->vy, odometry->vz, odometry->rollspeed,
                                     odometry->pitchspeed, odometry->yawspeed,
                                     odometry->pose_covariance, odometry->twist_covariance);
}

/**
 * @brief Encode a odometry struct on a channel
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param odometry C-struct to read the message contents from
 */
static inline uint16_t
mavlink_msg_odometry_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                 mavlink_message_t *msg, const mavlink_odometry_t *odometry) {
    return mavlink_msg_odometry_pack_chan(system_id, component_id, chan, msg, odometry->time_usec,
                                          odometry->frame_id, odometry->child_frame_id, odometry->x,
                                          odometry->y, odometry->z, odometry->q, odometry->vx,
                                          odometry->vy, odometry->vz, odometry->rollspeed,
                                          odometry->pitchspeed, odometry->yawspeed,
                                          odometry->pose_covariance, odometry->twist_covariance);
}

/**
 * @brief Send a odometry message
 * @param chan MAVLink channel to send the message
 *
 * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
 * @param frame_id  Coordinate frame of reference for the pose data.
 * @param child_frame_id  Coordinate frame of reference for the velocity in free space (twist) data.
 * @param x [m] X Position
 * @param y [m] Y Position
 * @param z [m] Z Position
 * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 * @param vx [m/s] X linear speed
 * @param vy [m/s] Y linear speed
 * @param vz [m/s] Z linear speed
 * @param rollspeed [rad/s] Roll angular speed
 * @param pitchspeed [rad/s] Pitch angular speed
 * @param yawspeed [rad/s] Yaw angular speed
 * @param pose_covariance  Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 * @param twist_covariance  Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_odometry_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x, float y, float z, const float *q, float vx, float vy, float vz, float rollspeed, float pitchspeed, float yawspeed, const float *pose_covariance, const float *twist_covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 36, vx);
    _mav_put_float(buf, 40, vy);
    _mav_put_float(buf, 44, vz);
    _mav_put_float(buf, 48, rollspeed);
    _mav_put_float(buf, 52, pitchspeed);
    _mav_put_float(buf, 56, yawspeed);
    _mav_put_uint8_t(buf, 228, frame_id);
    _mav_put_uint8_t(buf, 229, child_frame_id);
    _mav_put_float_array(buf, 20, q, 4);
    _mav_put_float_array(buf, 60, pose_covariance, 21);
    _mav_put_float_array(buf, 144, twist_covariance, 21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, buf, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
#else
    mavlink_odometry_t packet;
    packet.time_usec = time_usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.vx = vx;
    packet.vy = vy;
    packet.vz = vz;
    packet.rollspeed = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed = yawspeed;
    packet.frame_id = frame_id;
    packet.child_frame_id = child_frame_id;
    mav_array_memcpy(packet.q, q, sizeof(float)*4);
    mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
    mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float)*21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)&packet, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
#endif
}

/**
 * @brief Send a odometry message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_odometry_send_struct(mavlink_channel_t chan, const mavlink_odometry_t* odometry)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_odometry_send(chan, odometry->time_usec, odometry->frame_id, odometry->child_frame_id, odometry->x, odometry->y, odometry->z, odometry->q, odometry->vx, odometry->vy, odometry->vz, odometry->rollspeed, odometry->pitchspeed, odometry->yawspeed, odometry->pose_covariance, odometry->twist_covariance);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)odometry, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
#endif
}

#if MAVLINK_MSG_ID_ODOMETRY_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_odometry_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x, float y, float z, const float *q, float vx, float vy, float vz, float rollspeed, float pitchspeed, float yawspeed, const float *pose_covariance, const float *twist_covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint64_t(buf, 0, time_usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 36, vx);
    _mav_put_float(buf, 40, vy);
    _mav_put_float(buf, 44, vz);
    _mav_put_float(buf, 48, rollspeed);
    _mav_put_float(buf, 52, pitchspeed);
    _mav_put_float(buf, 56, yawspeed);
    _mav_put_uint8_t(buf, 228, frame_id);
    _mav_put_uint8_t(buf, 229, child_frame_id);
    _mav_put_float_array(buf, 20, q, 4);
    _mav_put_float_array(buf, 60, pose_covariance, 21);
    _mav_put_float_array(buf, 144, twist_covariance, 21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, buf, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
#else
    mavlink_odometry_t *packet = (mavlink_odometry_t *)msgbuf;
    packet->time_usec = time_usec;
    packet->x = x;
    packet->y = y;
    packet->z = z;
    packet->vx = vx;
    packet->vy = vy;
    packet->vz = vz;
    packet->rollspeed = rollspeed;
    packet->pitchspeed = pitchspeed;
    packet->yawspeed = yawspeed;
    packet->frame_id = frame_id;
    packet->child_frame_id = child_frame_id;
    mav_array_memcpy(packet->q, q, sizeof(float)*4);
    mav_array_memcpy(packet->pose_covariance, pose_covariance, sizeof(float)*21);
    mav_array_memcpy(packet->twist_covariance, twist_covariance, sizeof(float)*21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)packet, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
#endif
}
#endif

#endif

// MESSAGE ODOMETRY UNPACKING


/**
 * @brief Get field time_usec from odometry message
 *
 * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
 */
static inline uint64_t mavlink_msg_odometry_get_time_usec(const mavlink_message_t *msg) {
    return _MAV_RETURN_uint64_t(msg, 0);
}

/**
 * @brief Get field frame_id from odometry message
 *
 * @return  Coordinate frame of reference for the pose data.
 */
static inline uint8_t mavlink_msg_odometry_get_frame_id(const mavlink_message_t *msg) {
    return _MAV_RETURN_uint8_t(msg, 228);
}

/**
 * @brief Get field child_frame_id from odometry message
 *
 * @return  Coordinate frame of reference for the velocity in free space (twist) data.
 */
static inline uint8_t mavlink_msg_odometry_get_child_frame_id(const mavlink_message_t *msg) {
    return _MAV_RETURN_uint8_t(msg, 229);
}

/**
 * @brief Get field x from odometry message
 *
 * @return [m] X Position
 */
static inline float mavlink_msg_odometry_get_x(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 8);
}

/**
 * @brief Get field y from odometry message
 *
 * @return [m] Y Position
 */
static inline float mavlink_msg_odometry_get_y(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 12);
}

/**
 * @brief Get field z from odometry message
 *
 * @return [m] Z Position
 */
static inline float mavlink_msg_odometry_get_z(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 16);
}

/**
 * @brief Get field q from odometry message
 *
 * @return  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 */
static inline uint16_t mavlink_msg_odometry_get_q(const mavlink_message_t *msg, float *q) {
    return _MAV_RETURN_float_array(msg, q, 4, 20);
}

/**
 * @brief Get field vx from odometry message
 *
 * @return [m/s] X linear speed
 */
static inline float mavlink_msg_odometry_get_vx(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 36);
}

/**
 * @brief Get field vy from odometry message
 *
 * @return [m/s] Y linear speed
 */
static inline float mavlink_msg_odometry_get_vy(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 40);
}

/**
 * @brief Get field vz from odometry message
 *
 * @return [m/s] Z linear speed
 */
static inline float mavlink_msg_odometry_get_vz(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 44);
}

/**
 * @brief Get field rollspeed from odometry message
 *
 * @return [rad/s] Roll angular speed
 */
static inline float mavlink_msg_odometry_get_rollspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 48);
}

/**
 * @brief Get field pitchspeed from odometry message
 *
 * @return [rad/s] Pitch angular speed
 */
static inline float mavlink_msg_odometry_get_pitchspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 52);
}

/**
 * @brief Get field yawspeed from odometry message
 *
 * @return [rad/s] Yaw angular speed
 */
static inline float mavlink_msg_odometry_get_yawspeed(const mavlink_message_t *msg) {
    return _MAV_RETURN_float(msg, 56);
}

/**
 * @brief Get field pose_covariance from odometry message
 *
 * @return  Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 */
static inline uint16_t
mavlink_msg_odometry_get_pose_covariance(const mavlink_message_t *msg, float *pose_covariance) {
    return _MAV_RETURN_float_array(msg, pose_covariance, 21, 60);
}

/**
 * @brief Get field twist_covariance from odometry message
 *
 * @return  Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
 */
static inline uint16_t
mavlink_msg_odometry_get_twist_covariance(const mavlink_message_t *msg, float *twist_covariance) {
    return _MAV_RETURN_float_array(msg, twist_covariance, 21, 144);
}

/**
 * @brief Decode a odometry message into a struct
 *
 * @param msg The message to decode
 * @param odometry C-struct to decode the message contents into
 */
static inline void
mavlink_msg_odometry_decode(const mavlink_message_t *msg, mavlink_odometry_t *odometry) {
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    odometry->time_usec = mavlink_msg_odometry_get_time_usec(msg);
    odometry->x = mavlink_msg_odometry_get_x(msg);
    odometry->y = mavlink_msg_odometry_get_y(msg);
    odometry->z = mavlink_msg_odometry_get_z(msg);
    mavlink_msg_odometry_get_q(msg, odometry->q);
    odometry->vx = mavlink_msg_odometry_get_vx(msg);
    odometry->vy = mavlink_msg_odometry_get_vy(msg);
    odometry->vz = mavlink_msg_odometry_get_vz(msg);
    odometry->rollspeed = mavlink_msg_odometry_get_rollspeed(msg);
    odometry->pitchspeed = mavlink_msg_odometry_get_pitchspeed(msg);
    odometry->yawspeed = mavlink_msg_odometry_get_yawspeed(msg);
    mavlink_msg_odometry_get_pose_covariance(msg, odometry->pose_covariance);
    mavlink_msg_odometry_get_twist_covariance(msg, odometry->twist_covariance);
    odometry->frame_id = mavlink_msg_odometry_get_frame_id(msg);
    odometry->child_frame_id = mavlink_msg_odometry_get_child_frame_id(msg);
#else
    uint8_t len = msg->len < MAVLINK_MSG_ID_ODOMETRY_LEN ? msg->len : MAVLINK_MSG_ID_ODOMETRY_LEN;
    memset(odometry, 0, MAVLINK_MSG_ID_ODOMETRY_LEN);
    memcpy(odometry, _MAV_PAYLOAD(msg), len);
#endif
}
